阅读说明：本技术 激光雷达的配置方法、设备及存储介质 (Laser radar configuration method, device and storage medium ) 是由 王涵 李涛 于 2019-12-05 设计创作，主要内容包括：一种激光雷达的配置方法、设备及存储介质。通过应用端以组播方式向网络中的第一组播组发送设备信息请求指令,以请求获取该第一组播组中至少一个激光雷达的设备信息,进一步,该应用端根据该设备信息从该至少一个激光雷达中确定目标激光雷达,并向该第一组播组发送配置信息,当该目标激光雷达的IP地址出现错误时,该应用端可通过组播方式对该目标激光雷达的IP地址进行重新配置,以便恢复该应用端和该目标激光雷达之间的正常通信。另外,该应用端还可以对该目标激光雷达的其他参数进行配置,从而避免了目标激光雷达进入异常状态而导致无法对目标激光雷达进行有效控制的事件发生,从而提高了激光雷达的易用性。(A configuration method, equipment and storage medium of a laser radar. The method comprises the steps that an application end sends an equipment information request instruction to a first multicast group in a network in a multicast mode to request for obtaining equipment information of at least one laser radar in the first multicast group, further, the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, and when an IP address of the target laser radar is wrong, the application end can reconfigure the IP address of the target laser radar in the multicast mode so as to recover normal communication between the application end and the target laser radar. In addition, the application end can also configure other parameters of the target laser radar, so that the occurrence of an event that the target laser radar cannot be effectively controlled due to the fact that the target laser radar enters an abnormal state is avoided, and the usability of the laser radar is improved.)

A method of configuring a lidar comprising:

an application end sends a device information request instruction to a first multicast group in a network, wherein the first multicast group comprises a plurality of laser radars;

the application end receives feedback information sent by at least one laser radar in the first multicast group to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and the application end determines a target laser radar from the at least one laser radar according to the equipment information and sends configuration information to the first multicast group, wherein the configuration information is used for configuring parameters of the target laser radar.

The method of claim 1, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.

The method according to claim 1 or 2, wherein the configuration information comprises device information and configuration parameters of the target lidar.

The method of claim 3, wherein the device information comprises a device identification.

The method of claim 3, wherein the device information comprises information generated based on a device identification.

The method according to claim 4 or 5, wherein the device information further comprises a device type.

The method according to any of claims 1-6, wherein after the application determines a target lidar from the at least one lidar based on the device information and sends configuration information to the first multicast group, the method further comprises:

and the application end receives confirmation information sent by the target laser radar to the second multicast group, wherein the confirmation information is used for indicating that the target laser radar completes parameter configuration.

The method of claim 7, wherein the destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.

The method according to claim 7 or 8, wherein the destination IP address of the feedback information and the acknowledgement information is the multicast address of the second multicast group.

The method according to any one of claims 1-9, wherein the application side is communicatively coupled to the plurality of lidar;

each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or

Each of the plurality of laser radars stores a multicast address of the second multicast group and a multicast address of a multicast group to which the laser radar belongs.

The method of any of claims 1-9, wherein the application is communicatively coupled to the plurality of lidar via a router.

The method of claim 11, wherein the router comprises a first correspondence of multicast addresses of the first multicast group to MAC addresses of the plurality of lidars;

the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.

The method according to claim 11 or 12, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

The method of any of claims 1-13, wherein the first multicast group and the second multicast group are the same.

The method of any of claims 1-13, wherein the first multicast group and the second multicast group are different.

A method of configuring a lidar comprising:

receiving an equipment information request instruction sent by an application end to a first multicast group by a laser radar, wherein the laser radar belongs to the first multicast group;

the laser radar sends feedback information to a second multicast group, the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and the laser radar receives configuration information sent by the application end to the first multicast group, wherein the configuration information is used for configuring parameters of target laser radars in the first multicast group.

The method of claim 16, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.

The method according to claim 16 or 17, wherein the configuration information comprises device information and configuration parameters of the target lidar.

The method of claim 18, wherein the device information comprises a device identification.

The method of claim 18, wherein the device information comprises information generated based on a device identification.

The method according to claim 19 or 20, wherein the device information further comprises a device type.

The method according to any of claims 16-21, wherein after the lidar receives the configuration information sent by the application to the first multicast group, the method further comprises:

the laser radar determines whether the equipment information included in the configuration information is the equipment information of the laser radar;

if the laser radar determines that the equipment information included in the configuration information is the equipment information of the laser radar, the laser radar performs parameter configuration according to the configuration information;

and the laser radar sends confirmation information to the second multicast group, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.

The method of claim 22, wherein the destination IP address of the device information request command and the configuration information is a multicast address of the first multicast group.

The method according to claim 22 or 23, wherein the destination IP address of the feedback information and the acknowledgement information is the multicast address of the second multicast group.

The method according to any of claims 16-24, wherein the application side is communicatively coupled to the lidar;

the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or

The laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

The method according to any of claims 16-24, wherein the application is communicatively coupled to the lidar via a router.

The method of claim 26, wherein the router comprises a first correspondence of a multicast address of the first multicast group to a MAC address of the lidar;

the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.

The method according to claim 26 or 27, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

The method of any of claims 16-28, wherein the first multicast group and the second multicast group are the same.

The method of any of claims 16-28, wherein the first multicast group and the second multicast group are different.

A communication device, comprising an application, a memory, a processor, and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

sending a device information request instruction to a first multicast group in a network through the communication interface, wherein the first multicast group comprises a plurality of laser radars;

receiving feedback information sent by at least one laser radar in the first multicast group to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the at least one laser radar;

and determining a target laser radar from the at least one laser radar according to the equipment information, and sending configuration information to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar.

The communication device of claim 31, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.

The communication device according to claim 31 or 32, wherein the configuration information comprises device information and configuration parameters of the target lidar.

The communications device of claim 33, wherein said device information includes a device identification.

The communications device of claim 33, wherein the device information comprises information generated based on a device identification.

The communication device of claim 34 or 35, wherein the device information further comprises a device type.

The communications device of any one of claims 31-36, wherein the processor, after determining a target lidar from the at least one lidar and sending configuration information to the first multicast group based on the device information, is further configured to:

and receiving confirmation information sent by the target laser radar to the second multicast group through the communication interface, wherein the confirmation information is used for indicating that the target laser radar completes parameter configuration.

The communications device of claim 37, wherein the destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.

The communication device according to claim 37 or 38, wherein the destination IP address of the feedback information and the acknowledgement information is a multicast address of the second multicast group.

The communication device of any of claims 31-39, wherein the application terminal is communicatively coupled to the plurality of lidar terminals;

each of the plurality of laser radars stores a multicast address of a multicast group to which the laser radar belongs; or

Each of the plurality of laser radars stores a multicast address of the second multicast group and a multicast address of a multicast group to which the laser radar belongs.

The communications device of any one of claims 31-39, wherein the application is communicatively coupled to the plurality of lidar means via a router.

The communications device of claim 41, wherein the router comprises a first correspondence of multicast addresses of the first multicast group to MAC addresses of the plurality of lidar;

the router is configured to send the device information request instruction or the configuration information to the plurality of lidar according to the first corresponding relationship.

The communication device according to claim 41 or 42, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

The communications device of any one of claims 31-43, wherein the first multicast group and the second multicast group are the same.

The communications device of any one of claims 31-43, wherein the first multicast group and the second multicast group are different.

A lidar, comprising: a memory, a processor and a communication interface;

the memory is used for storing program codes;

the processor, invoking the program code, when executed, is configured to:

receiving an equipment information request instruction sent to a first multicast group by an application end through the communication interface, wherein the laser radar belongs to the first multicast group;

sending feedback information to a second multicast group through the communication interface, wherein the application end belongs to the second multicast group, and the feedback information comprises equipment information of the laser radar;

and receiving configuration information sent by the application terminal to the first multicast group through the communication interface, wherein the configuration information is used for configuring parameters of the target laser radar in the first multicast group.

The lidar of claim 46, wherein the parameters of the target lidar comprise at least one of:

the system comprises an IP address of the target laser radar, switch parameters of an inertia measurement unit, switch parameters of a fan, a coordinate mode, a single echo and a double echo switching parameter.

The lidar of claim 46 or 47, wherein the configuration information comprises device information and configuration parameters of the target lidar.

The lidar of claim 48, wherein the device information comprises a device identification.

The lidar of claim 48, wherein the device information comprises information generated based on a device identification.

Lidar according to claim 49 or 50, wherein the device information further comprises a device type.

The lidar of any of claims 46-51, wherein after the processor receives configuration information sent by the application to the first multicast group via the communication interface, the processor is further configured to:

determining whether the equipment information included in the configuration information is the equipment information of the laser radar;

if the equipment information included in the configuration information is the equipment information of the laser radar, performing parameter configuration according to the configuration information;

and sending confirmation information to the second multicast group through the communication interface, wherein the confirmation information is used for indicating that the laser radar completes parameter configuration.

The lidar of claim 52, wherein a destination IP address of the device information request instruction and the configuration information is a multicast address of the first multicast group.

The lidar of claim 52 or 53, wherein a destination IP address of the feedback information and the acknowledgement information is a multicast address of the second multicast group.

The lidar of any of claims 46-54, wherein said application terminal is communicatively coupled to said lidar;

the laser radar stores the multicast address of the multicast group to which the laser radar belongs; or

The laser radar stores the multicast address of the second multicast group and the multicast address of the multicast group to which the laser radar belongs.

The lidar according to any of claims 46 to 54, wherein said application terminal is communicatively coupled to said lidar via a router.

The lidar of claim 56, wherein the router comprises a first correspondence of a multicast address of the first multicast group to a MAC address of the lidar;

the router is configured to send the device information request instruction or the configuration information to the laser radar according to the first corresponding relationship.

The lidar according to claim 56 or 57, wherein the router comprises a second correspondence between the multicast address of the second multicast group and the IP address and/or MAC address of the device to which the application belongs;

and the router is used for sending the feedback information or the confirmation information to the equipment to which the application end belongs according to the second corresponding relation.

The lidar of any of claims 46-58, wherein the first multicast group and the second multicast group are the same.

The lidar of any of claims 46-58, wherein the first multicast group and the second multicast group are different.

A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-30.